Contains global initialization, deinitialization and other global functions. More...

#include <ariaInternal.h>

Public Types
enum	SigHandleMethod { SIGHANDLE_SINGLE, SIGHANDLE_THREAD, SIGHANDLE_NONE }

Static Public Member Functions
static void	addExitCallback (ArFunctor *functor, int position=50)
	Adds a functor to by called before program exit by Aria::exit() More...

static void	addInitCallBack (ArFunctor *cb, ArListPos::Pos position)
	Adds a callback to call when Aria is initialized using init() More...

static void	addLogOptionsCB (ArFunctor *functor, int position=50)
	Adds a callback for when we log options.

static void	addParseArgsCB (ArRetFunctor< bool > *functor, int position=50)
	Adds a callback for when we parse arguments.

static void	addRobot (ArRobot *robot)
	Add a robot to the global list of robots.

static void	addUninitCallBack (ArFunctor *cb, ArListPos::Pos position)
	Adds a callback to call when Aria is uninititialized using uninit() More...

static bool	batteryAddCreator (const char batteryType, ArRetFunctor2< ArBatteryMTX , int, const char > creator)
	Adds a type of battery for Aria to be able to create. More...

static ArBatteryMTX *	batteryCreate (const char batteryType, int batteryNumber, const char prefix="Aria::batteryCreate")
	Creates a battery of the given type. More...

static const char *	batteryGetChoices (void)
	Gets a list of the possible battery types (for use in the config) More...

static const char *	batteryGetTypes (void)
	Gets a list of the possible battery types. More...

static void	callExitCallbacks (void)
	Internal, calls the exit callbacks.

static void	delRobot (ArRobot *robot)
	Remove a robot from the global list of robots.

static bool	deviceConnectionAddCreator (const char deviceConnectionType, ArRetFunctor3< ArDeviceConnection , const char , const char , const char > creator)
	Adds a type of deviceConnection for Aria to be able to create. More...

static ArDeviceConnection *	deviceConnectionCreate (const char deviceConnectionType, const char port, const char defaultInfo, const char prefix="Aria::deviceConnectionCreate")
	Creates a deviceConnection of the given type. More...

static const char *	deviceConnectionGetChoices (void)
	Gets a list of the possible deviceConnection types (for use in the config) More...

static const char *	deviceConnectionGetTypes (void)
	Gets a list of the possible deviceConnection types. More...

static void	exit (int exitCode=0)
	Shutdown all Aria processes/threads, call exit callbacks, and exit the program. More...

static void	exitOld (int exitCode=0)
	Force an exit of all Aria processes/threads (the old way) More...

static ArRobot *	findRobot (char *name)
	Finds a robot in the global list of robots, by name. More...

static ArConfig *	getConfig (void)
	Gets the ArConfig for this program. More...

static const char *	getDirectory (void)
	Gets the directory that ARIA resides in. More...

static const char *	getIdentifier (void)
	Gets the identifier (for humans) used for this instance of Aria.

static ArStringInfoGroup *	getInfoGroup (void)
	Gets the ArStringInfoGroup for this program. More...

static ArJoyHandler *	getJoyHandler (void)
	Get a pointer to the joystick handler if one has been set with setJoyHandler() More...

static ArKeyHandler *	getKeyHandler (void)
	Gets a pointer to the global key handler, if one has been set with setKeyHandler() More...

static int	getMaxNumBatteries (void)
	Gets the maximum number of batteris to use. More...

static int	getMaxNumLasers (void)
	Gets the maximum number of lasers to use. More...

static int	getMaxNumLCDs (void)
	Gets the maximum number of lcds to use. More...

static size_t	getMaxNumPTZs ()
	Set maximum limit on PTZ or PTU devices, used by ArPTZConnector.

static int	getMaxNumSonarBoards (void)
	Gets the maximum number of sonars to use. More...

static size_t	getMaxNumVideoDevices ()
	Get maximum limit on video devices (used by ArVideo library)

static ArRobotJoyHandler *	getRobotJoyHandler (void)
	Gets the robot joystick handler if one has been set. More...

static std::list< ArRobot * > *	getRobotList ()
	Get a copy of the global robot list.

static bool	getRunning (void)
	Sees if Aria is still running (mostly for the thread in main) More...

static void	init (SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
	Initialize Aria global data struture and perform OS-specific initialization, including adding OS signal handlers on Linux, initializing sockets library on Windows, etc. More...

static bool	laserAddCreator (const char laserType, ArRetFunctor2< ArLaser , int, const char > creator)
	Adds a type of laser for Aria to be able to create. More...

static ArLaser *	laserCreate (const char laserType, int laserNumber, const char prefix="Aria::laserCreate")
	Creates a laser of the given type. More...

static const char *	laserGetChoices (void)
	Gets a list of the possible laser types (for use in the config) More...

static const char *	laserGetTypes (void)
	Gets a list of the possible laser types. More...

static bool	lcdAddCreator (const char lcdType, ArRetFunctor2< ArLCDMTX , int, const char > creator)
	Adds a type of lcd for Aria to be able to create. More...

static ArLCDMTX *	lcdCreate (const char lcdType, int lcdNumber, const char prefix="Aria::lcdCreate")
	Creates a lcd of the given type. More...

static const char *	lcdGetChoices (void)
	Gets a list of the possible lcd types (for use in the config) More...

static const char *	lcdGetTypes (void)
	Gets a list of the possible lcd types. More...

static void	logOptions (void)
	Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB()) More...

static bool	parseArgs (void)
	Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()) More...

static void	remExitCallback (ArFunctor *functor)
	Removes a functor to by called before program exit by Aria::exit() More...

static void	setDirectory (const char *directory)
	Sets the directory that ARIA resides in, to override default. More...

static void	setExitCallbacksLogLevel (ArLog::LogLevel level)
	Sets the log level for the exit callbacks.

static void	setIdentifier (const char *identifier)
	Sets the identifier (for humans) used for this instance of Aria.

static void	setJoyHandler (ArJoyHandler *joyHandler)
	Sets the joystick handler, so that other classes can find it using getJoyHandler() More...

static void	setKeyHandler (ArKeyHandler *keyHandler)
	Sets the key handler, so that other classes can find it using getKeyHandler() More...

static void	setMaxNumBatteries (int maxNumBatteries)
	Sets the maximum number of batteries to use. More...

static void	setMaxNumLasers (int maxNumLasers)
	Sets the maximum number of lasers to use. More...

static void	setMaxNumLCDs (int maxNumLCDs)
	Sets the maximum number of batteries to use. More...

static void	setMaxNumPTZs (size_t n)
	Set maximum limit on PTZ or PTU devices, used by ArPTZConnector. Call before connecting to PTZ devices with ArPTZConnector.

static void	setMaxNumSonarBoards (int maxNumSonarBoards)
	Sets the maximum number of sonars to use. More...

static void	setMaxNumVideoDevices (size_t n)
	Set maximum limit on video devices (used by ArVideo library)

static void	setParseArgLogLevel (ArLog::LogLevel level)
	Sets the log level for the parsing function.

static void	setRobotJoyHandler (ArRobotJoyHandler *robotJoyHandler)
	Sets the robot joystick handler, so that other classes can find it. More...

static void	shutdown ()
	Shutdown all Aria processes/threads. More...

static void	signalHandlerCB (int sig)
	Internal, the callback for the signal handling.

static bool	sonarAddCreator (const char sonarType, ArRetFunctor2< ArSonarMTX , int, const char > creator)
	Adds a type of sonar for Aria to be able to create. More...

static ArSonarMTX *	sonarCreate (const char sonarType, int sonarNumber, const char prefix="Aria::sonarCreate")
	Creates a sonar of the given type. More...

static const char *	sonarGetChoices (void)
	Gets a list of the possible sonar types (for use in the config) More...

static const char *	sonarGetTypes (void)
	Gets a list of the possible sonar types. More...

static void	uninit ()
	Performs OS-specific deinitialization, used by shutdown() and exit(). More...

Static Protected Attributes
static std::string	ourBatteryChoices = "Choices:"

static std::map< std::string, ArRetFunctor2< ArBatteryMTX , int, const char > *, ArStrCaseCmpOp >	ourBatteryCreatorMap

static std::string	ourBatteryTypes

static ArConfig	ourConfig

static std::string	ourDeviceConnectionChoices = "Choices:"

static std::map< std::string, ArRetFunctor3< ArDeviceConnection , const char , const char , const char > *, ArStrCaseCmpOp >	ourDeviceConnectionCreatorMap

static std::string	ourDeviceConnectionTypes

static std::string	ourDirectory =""

static std::multimap< int, ArFunctor * >	ourExitCallbacks

static ArLog::LogLevel	ourExitCallbacksLogLevel = ArLog::Verbose

static ArMutex	ourExitCallbacksMutex

static bool	ourExiting =false

static std::string	ourIdentifier = "generic"

static ArStringInfoGroup	ourInfoGroup

static std::list< ArFunctor * >	ourInitCBs

static bool	ourInited = false

static ArJoyHandler *	ourJoyHandler = NULL

static ArKeyHandler *	ourKeyHandler = NULL

static std::string	ourLaserChoices = "Choices:"

static std::map< std::string, ArRetFunctor2< ArLaser , int, const char > *, ArStrCaseCmpOp >	ourLaserCreatorMap

static std::string	ourLaserTypes

static std::string	ourLCDChoices = "Choices:"

static std::map< std::string, ArRetFunctor2< ArLCDMTX , int, const char > *, ArStrCaseCmpOp >	ourLCDCreatorMap

static std::string	ourLCDTypes

static std::multimap< int, ArFunctor * >	ourLogOptionsCBs

static int	ourMaxNumBatteries = 1

static int	ourMaxNumLasers = 2

static int	ourMaxNumLCDs = 1

static size_t	ourMaxNumPTZs = 8

static int	ourMaxNumSonarBoards = 1

static size_t	ourMaxNumVideoDevices = 8

static std::multimap< int, ArRetFunctor< bool > * >	ourParseArgCBs

static ArLog::LogLevel	ourParseArgsLogLevel = ArLog::Verbose

static ArRobotJoyHandler *	ourRobotJoyHandler = NULL

static std::list< ArRobot * >	ourRobots

static bool	ourRunning = false

static bool	ourShuttingDown =false

static ArMutex	ourShuttingDownMutex

static bool	ourSigHandleExitNotShutdown = true

static ArGlobalFunctor1< int >	ourSignalHandlerCB

static std::string	ourSonarChoices = "Choices:"

static std::map< std::string, ArRetFunctor2< ArSonarMTX , int, const char > *, ArStrCaseCmpOp >	ourSonarCreatorMap

static std::string	ourSonarTypes

static std::list< ArFunctor * >	ourUninitCBs

Detailed Description

Contains global initialization, deinitialization and other global functions.

Member Enumeration Documentation

◆ SigHandleMethod

enum Aria::SigHandleMethod

Enumerator
SIGHANDLE_SINGLE	Setup signal handlers in a global, non-thread way.
SIGHANDLE_THREAD	Setup a dedicated signal handling thread.
SIGHANDLE_NONE	Do no signal handling.

Member Function Documentation

◆ addExitCallback()

void Aria::addExitCallback	(	ArFunctor *	functor,
		int	position = `50`
	)

static

Adds a functor to by called before program exit by Aria::exit()

Note, an exit callback may be called at any time; it should not block or wait on any locked mutexes or similar.

Examples:: gpsRobotTaskExample.cpp.

◆ addInitCallBack()

void Aria::addInitCallBack	(	ArFunctor *	cb,
		ArListPos::Pos	position
	)

static

Adds a callback to call when Aria is initialized using init()

This will add a callback to the list of callbacks to call when Aria has been initialized.

It can be called before anything else.

◆ addUninitCallBack()

void Aria::addUninitCallBack	(	ArFunctor *	cb,
		ArListPos::Pos	position
	)

static

Adds a callback to call when Aria is uninititialized using uninit()

This will add a callback to the list of callbacks to call right before Aria is un-initialized.

It can be called before anything else. This facilitates code that in operating system signal handlers simply calls Aria::uninit() and packages that are based on Aria are unitited as well. It simplifies the entire uninit process.

◆ batteryAddCreator()

bool Aria::batteryAddCreator	(	const char *	batteryType,
		ArRetFunctor2< ArBatteryMTX , int, const char > *	creator
	)

static

Adds a type of battery for Aria to be able to create.

This adds a functor which can create a battery of a given type.

Parameters

batteryType	The battery type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used.
creator	A functor which takes an int (battery number) and a const char * (logPrefix) and returns a new battery of the batteryType

◆ batteryCreate()

ArBatteryMTX * Aria::batteryCreate	(	const char *	batteryType,
		int	batteryNumber,
		const char *	logPrefix = `"Aria::batteryCreate"`
	)

static

Creates a battery of the given type.

Creates a battery of a given type, with the given batteryNumber, and uses the logPrefix for logging what happens.

This is mostly for internal use by ArBatteryConnector.

Parameters

batteryType	The type of battery to create
batteryNumber	The battery number to use for the created battery
logPrefix	The prefix to use when logging

◆ batteryGetChoices()

const char * Aria::batteryGetChoices ( void )

static

Gets a list of the possible battery types (for use in the config)

Gets a string that is the types of batteries that can be created separated by ;; characters.

Mostly for internal use by the config.

◆ batteryGetTypes()

const char * Aria::batteryGetTypes ( void )

static

Gets a list of the possible battery types.

Gets a string that is the types of batteries that can be created separated by | characters.

Mostly for internal use by ArBatteryConnector.

◆ deviceConnectionAddCreator()

bool Aria::deviceConnectionAddCreator	(	const char *	deviceConnectionType,
		ArRetFunctor3< ArDeviceConnection , const char , const char , const char > *	creator
	)

static

Adds a type of deviceConnection for Aria to be able to create.

This adds a functor which can create a deviceConnection of a given type.

Parameters

deviceConnectionType	The deviceConnection type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used.
creator	A functor which takes a const char * (port name), a const char * (defaultInfo, for example default tcp port), a const char * (logPrefix) and returns a new deviceConnection of the deviceConnectionType if it can create the desired connection. If the connection failes then it should return NULL.

◆ deviceConnectionCreate()

ArDeviceConnection * Aria::deviceConnectionCreate	(	const char *	deviceConnectionType,
		const char *	port,
		const char *	defaultInfo,
		const char *	logPrefix = `"Aria::deviceConnectionCreate"`
	)

static

Creates a deviceConnection of the given type.

Creates a device connection of a given type, connecting to a given port, with the given defaultInfo, logging messages with the given prefix.

This is mostly for internal use by ArLaserConnector

Parameters

deviceConnectionType	The type of device connection to create
port	The port to connect to (for serial, an example is COM1 or /dev/ttyS0, for tcp an example is p3dx:8101)
defaultInfo	Default info to use, the only use for this right now is for a default port for a tcp connection (so that if it doesn't have hostname:port format but only hostname then it will use this port)
logPrefix	The prefix to use when logging

◆ deviceConnectionGetChoices()

const char * Aria::deviceConnectionGetChoices ( void )

static

Gets a list of the possible deviceConnection types (for use in the config)

Gets a string that is the types of device connections that can be created separated by ;; characters.

Mostly for internal use by the config.

◆ deviceConnectionGetTypes()

const char * Aria::deviceConnectionGetTypes ( void )

static

Gets a list of the possible deviceConnection types.

Gets a string that is the types of device connections that can be created separated by | characters.

Mostly for internal use by ArLaserConnector.

◆ exit()

Aria::exit ( int exitCode = 0 )

static

Shutdown all Aria processes/threads, call exit callbacks, and exit the program.

This will call the list of Aria exit callbacks (added by addExitCallback()) and then exit the program with the given exit code.

This method may be used as a replacement for the standard system ::exit() call (which is used by this method to finally exit the program with the given exitCode after finishing Aria shutdown steps.)

Note that this could be called from anywhere, mutexes may be locked when called– all exit callbacks MUST return and cannot wait for a lock, since this could result in the program hanging due to double-lock (deadlock).

See also: addExitCallback()

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, cameraPTZExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, imuExample.cpp, joydriveActionExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, moduleExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, netServerExample.cpp, robotConnectionCallbacks.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, socketClientExample.cpp, socketServerExample.cpp, soundsQueueExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

◆ exitOld()

void Aria::exitOld ( int exitCode = 0 )

static

Force an exit of all Aria processes/threads (the old way)

This method is roughly obsolete, it simply forces all the threads to die immediately and then exits...

The new method exit() is preferred.

This calls cancel() on all AtThread's and ArASyncTask's. It forces each thread to exit and should only be used in the case of a thread hanging or getting stuck in an infinite loop. This works fine in Linux. In Windows it is not recommended at all that this function be called. Windows can not handle cleanly killing off a thread. See the help in the VC++ compiler on the WIN32 function TerminateThread. The biggest problem is that the state of DLL's can be destroyed.

Deprecated:

◆ findRobot()

ArRobot * Aria::findRobot ( char * name )

static

Finds a robot in the global list of robots, by name.

Parameters

name	the name of the robot you want to find

Returns: NULL if there is no robot of that name, otherwise the robot with that name

◆ getConfig()

ArConfig * Aria::getConfig ( void )

static

Gets the ArConfig for this program.

This gets the global config aria uses.

Examples:: configExample.cpp.

◆ getDirectory()

const char * Aria::getDirectory ( void )

static

Gets the directory that ARIA resides in.

This gets the directory that ARIA is located in, this is so ARIA can find param files and the like.

Returns: the directory ARIA is located in

See also: setDirectory

◆ getInfoGroup()

ArStringInfoGroup * Aria::getInfoGroup ( void )

static

Gets the ArStringInfoGroup for this program.

This gets the global string group aria uses.

◆ getJoyHandler()

ArJoyHandler * Aria::getJoyHandler ( void )

static

Get a pointer to the joystick handler if one has been set with setJoyHandler()

Gets the joy handler if one has been set.

◆ getKeyHandler()

ArKeyHandler * Aria::getKeyHandler ( void )

static

Gets a pointer to the global key handler, if one has been set with setKeyHandler()

Gets the key handler if one has been set.

Examples:: actionGroupExample.cpp, dpptuExample.cpp, gripperExample.cpp, and gyroExample.cpp.

◆ getMaxNumBatteries()

int Aria::getMaxNumBatteries ( void )

static

Gets the maximum number of batteris to use.

Gets the maximum number of batteries to check for and use.

◆ getMaxNumLasers()

int Aria::getMaxNumLasers ( void )

static

Gets the maximum number of lasers to use.

Gets the maximum number of lasers to check for and use.

◆ getMaxNumLCDs()

int Aria::getMaxNumLCDs ( void )

static

Gets the maximum number of lcds to use.

Gets the maximum number of lcds to check for and use.

◆ getMaxNumSonarBoards()

int Aria::getMaxNumSonarBoards ( void )

static

Gets the maximum number of sonars to use.

Gets the maximum number of sonar boards to check for and use.

◆ getRobotJoyHandler()

ArRobotJoyHandler * Aria::getRobotJoyHandler ( void )

static

Gets the robot joystick handler if one has been set.

Gets the robot joy handler if one has been set.

◆ getRunning()

bool Aria::getRunning ( void )

static

Sees if Aria is still running (mostly for the thread in main)

returns true if ARIA is initialized (Aria::init() has been called) and has not been shut down by a call to Aria::shutdown() or Aria::exit() and an operating system signal has not occured (e.g.

external KILL signal)

Examples:: gotoActionExample.cpp, netServerExample.cpp, socketServerExample.cpp, and soundsQueueExample.cpp.

◆ init()

void Aria::init	(	SigHandleMethod	method = `SIGHANDLE_THREAD`,
		bool	initSockets = `true`,
		bool	sigHandleExitNotShutdown = `true`
	)

static

Initialize Aria global data struture and perform OS-specific initialization, including adding OS signal handlers on Linux, initializing sockets library on Windows, etc.

This must be called first before any other Aria functions.

It initializes the thread layer and the signal handling method. For Windows it iniatializes the socket layer as well. This also sets the directory Aria is located in using ARIA environmental variable (or Aria registry key on Windows). For more about Aria's directory see getDirectory() and setDirectory().

For Linux the default signal handling method is to intercept OS signals in a dedicated "signal handling thread", which cleanly closes down the program, causes all the instances of ArRobot to stop their run loop and disconnect from their robot. The program will exit on the following signals: SIGHUP, SIGINT, SIGQUIT, and SIGTERM.

For Windows, there is no signal handling.

This method also adds the file /etc/Aria.args and the environment variable ARIAARGS as locations for ArArgumentParser to obtain default argument values from.

Parameters

method	the method in which to handle signals. Defaulted to SIGHANDLE_SINGLE, or the method indicated by the ARIA_SIGHANDLE_METHOD environment variable (NONE, SINGLE or THREAD), if it exists.
initSockets	specify whether or not to initialize the socket layer. This is only meaningfull for Windows. Defaulted to true.
sigHandleExitNotShutdown	if this is true and a signal happens Aria will use exit() to quit instead of shutdown(), false will still use shutdown which is the old behavior.

See also: ArSignalHandler; ArSocket

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, cameraPTZExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, imuExample.cpp, joydriveActionExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, moduleExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, netServerExample.cpp, robotConnectionCallbacks.cpp, robotSyncTaskExample.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, socketClientExample.cpp, socketServerExample.cpp, soundsQueueExample.cpp, teleopActionsExample.cpp, threadExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

◆ laserAddCreator()

bool Aria::laserAddCreator	(	const char *	laserType,
		ArRetFunctor2< ArLaser , int, const char > *	creator
	)

static

Adds a type of laser for Aria to be able to create.

This adds a functor which can create a laser of a given type.

Parameters

laserType	The laser type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used.
creator	A functor which takes an int (laser number) and a const char * (logPrefix) and returns a new laser of the laserType

◆ laserCreate()

ArLaser * Aria::laserCreate	(	const char *	laserType,
		int	laserNumber,
		const char *	logPrefix = `"Aria::laserCreate"`
	)

static

Creates a laser of the given type.

Creates a laser of a given type, with the given laserNumber, and uses the logPrefix for logging what happens.

This is mostly for internal use by ArLaserConnector.

Parameters

laserType	The type of laser to create
laserNumber	The laser number to use for the created laser
logPrefix	The prefix to use when logging

◆ laserGetChoices()

const char * Aria::laserGetChoices ( void )

static

Gets a list of the possible laser types (for use in the config)

Gets a string that is the types of lasers that can be created separated by ;; characters.

Mostly for internal use by the config

◆ laserGetTypes()

const char * Aria::laserGetTypes ( void )

static

Gets a list of the possible laser types.

Gets a string that is the types of lasers that can be created separated by | characters.

Mostly for internal use by ArLaserConnector.

◆ lcdAddCreator()

bool Aria::lcdAddCreator	(	const char *	lcdType,
		ArRetFunctor2< ArLCDMTX , int, const char > *	creator
	)

static

Adds a type of lcd for Aria to be able to create.

This adds a functor which can create a lcd of a given type.

Parameters

lcdType	The lcd type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used.
creator	A functor which takes an int (lcd number) and a const char * (logPrefix) and returns a new lcd of the lcdType

◆ lcdCreate()

ArLCDMTX * Aria::lcdCreate	(	const char *	lcdType,
		int	lcdNumber,
		const char *	logPrefix = `"Aria::lcdCreate"`
	)

static

Creates a lcd of the given type.

Creates a lcd of a given type, with the given lcdNumber, and uses the logPrefix for logging what happens.

This is mostly for internal use by ArLCDConnector.

Parameters

lcdType	The type of lcd to create
lcdNumber	The lcd number to use for the created lcd
logPrefix	The prefix to use when logging

◆ lcdGetChoices()

const char * Aria::lcdGetChoices ( void )

static

Gets a list of the possible lcd types (for use in the config)

Gets a string that is the types of batteries that can be created separated by ;; characters.

Mostly for internal use by ArLCDConnector.

◆ lcdGetTypes()

const char * Aria::lcdGetTypes ( void )

static

Gets a list of the possible lcd types.

Gets a string that is the types of batteries that can be created separated by | characters.

Mostly for internal use by ArLCDConnector.

◆ logOptions()

void Aria::logOptions ( void )

static

Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())

See also: addLogOptionsCB()

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, cameraPTZExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, robotConnectionCallbacks.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

◆ parseArgs()

bool Aria::parseArgs ( void )

static

Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())

See also: addParseArgsCB()

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, cameraPTZExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, robotConnectionCallbacks.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

◆ remExitCallback()

void Aria::remExitCallback ( ArFunctor * functor )

static

Removes a functor to by called before program exit by Aria::exit()

Note, an exit callback may be called at any time; it should not * block or wait on any locked mutexes or similar.

Also note that this will not actually happen if it is called while aria is exiting (ie it is walking through the list).

Since: 2.7.0

◆ setDirectory()

void Aria::setDirectory ( const char * directory )

static

Sets the directory that ARIA resides in, to override default.

This sets the directory that ARIA is located in, so ARIA can find param files and the like.

This can also be controlled by the environment variable ARIA, which this is set to (if it exists) when Aria::init is done. So for setDirectory to be effective, it must be done after the Aria::init.

Parameters

directory the directory Aria is located in

See also: getDirectory

◆ setJoyHandler()

void Aria::setJoyHandler ( ArJoyHandler * joyHandler )

static

Sets the joystick handler, so that other classes can find it using getJoyHandler()

Sets the joy handler, so that other classes can find it.

◆ setKeyHandler()

void Aria::setKeyHandler ( ArKeyHandler * keyHandler )

static

Sets the key handler, so that other classes can find it using getKeyHandler()

Sets the key handler, so that other classes can find it.

Examples:: actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, imuExample.cpp, lineFinderExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

◆ setMaxNumBatteries()

void Aria::setMaxNumBatteries ( int maxNumBatteries )

static

Sets the maximum number of batteries to use.

Sets the maximum number of sonars to check for and use, if you are going to set this you should do it after the Aria::init.

◆ setMaxNumLasers()

void Aria::setMaxNumLasers ( int maxNumLasers )

static

Sets the maximum number of lasers to use.

Sets the maximum number of lasers to check for and use, if you are going to set this you should do it after the Aria::init before you start making laser connectors or robots or robot params.

◆ setMaxNumLCDs()

void Aria::setMaxNumLCDs ( int maxNumLCDs )

static

Sets the maximum number of batteries to use.

Sets the maximum number of sonars to check for and use, if you are going to set this you should do it after the Aria::init.

◆ setMaxNumSonarBoards()

void Aria::setMaxNumSonarBoards ( int maxNumSonarBoards )

static

Sets the maximum number of sonars to use.

Sets the maximum number of sonars to check for and use, if you are going to set this you should do it after the Aria::init.

◆ setRobotJoyHandler()

void Aria::setRobotJoyHandler ( ArRobotJoyHandler * robotJoyHandler )

static

Sets the robot joystick handler, so that other classes can find it.

Sets the robot joy handler, so that other classes can find it.

◆ shutdown()

void Aria::shutdown ( )

static

Shutdown all Aria processes/threads.

Use this function to clean up or uninitialize Aria, in particular, to stop background threads.

(Note: If you want to shutdown ARIA cleanly at the end of your program or when exiting the program due to error, use Aria::exit() instead.) This calls stop() on all ArThread's and ArASyncTask's. It will block until all ArThread's and ArASyncTask's exit. It is expected that all the tasks will obey the ArThread::myRunning variable and exit when it is false. Note, this only stop Aria's background threads, it does not exit the program. If you want to shutdown ARIA cleanly at the end of your program or when exiting the program due to error, use Aria::exit() instead.

See also: Aria::exit()

Examples:: imuExample.cpp.

◆ sonarAddCreator()

bool Aria::sonarAddCreator	(	const char *	sonarType,
		ArRetFunctor2< ArSonarMTX , int, const char > *	creator
	)

static

Adds a type of sonar for Aria to be able to create.

This adds a functor which can create a sonar of a given type.

Parameters

sonarType	The sonar type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used.
creator	A functor which takes an int (sonar number) and a const char * (logPrefix) and returns a new sonar of the sonarType

◆ sonarCreate()

ArSonarMTX * Aria::sonarCreate	(	const char *	sonarType,
		int	sonarNumber,
		const char *	logPrefix = `"Aria::sonarCreate"`
	)

static

Creates a sonar of the given type.

Creates a sonar of a given type, with the given sonarNumber, and uses the logPrefix for logging what happens.

This is mostly for internal use by ArSonarConnector.

Parameters

sonarType	The type of sonar to create
sonarNumber	The sonar number to use for the created sonar
logPrefix	The prefix to use when logging

◆ sonarGetChoices()

const char * Aria::sonarGetChoices ( void )

static

Gets a list of the possible sonar types (for use in the config)

Gets a string that is the types of sonars that can be created separated by ;; characters.

Mostly for internal use by the config.

◆ sonarGetTypes()

const char * Aria::sonarGetTypes ( void )

static

Gets a list of the possible sonar types.

Gets a string that is the types of sonars that can be created separated by | characters.

Mostly for internal use by ArSonarConnector.

◆ uninit()

void Aria::uninit ( )

static

Performs OS-specific deinitialization, used by shutdown() and exit().

This must be called last, after all other Aria functions.

For both Linux and Windows, it closes all the open ArModules. For Windows it deinitializes the socket layer as well.

The documentation for this class was generated from the following files:

ariaInternal.h
Aria.cpp
mtxIO.cpp

Public Types

Static Public Member Functions

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SigHandleMethod

Member Function Documentation

◆ addExitCallback()

◆ addInitCallBack()

◆ addUninitCallBack()

◆ batteryAddCreator()

◆ batteryCreate()

◆ batteryGetChoices()

◆ batteryGetTypes()

◆ deviceConnectionAddCreator()

◆ deviceConnectionCreate()

◆ deviceConnectionGetChoices()

◆ deviceConnectionGetTypes()

◆ exit()

◆ exitOld()

◆ findRobot()

◆ getConfig()

◆ getDirectory()

◆ getInfoGroup()

◆ getJoyHandler()

◆ getKeyHandler()

◆ getMaxNumBatteries()

◆ getMaxNumLasers()

◆ getMaxNumLCDs()

◆ getMaxNumSonarBoards()

◆ getRobotJoyHandler()

◆ getRunning()

◆ init()

◆ laserAddCreator()

◆ laserCreate()

◆ laserGetChoices()

◆ laserGetTypes()

◆ lcdAddCreator()

◆ lcdCreate()

◆ lcdGetChoices()

◆ lcdGetTypes()

◆ logOptions()

◆ parseArgs()

◆ remExitCallback()

◆ setDirectory()

◆ setJoyHandler()

◆ setKeyHandler()

◆ setMaxNumBatteries()

◆ setMaxNumLasers()

◆ setMaxNumLCDs()

◆ setMaxNumSonarBoards()

◆ setRobotJoyHandler()

◆ shutdown()

◆ sonarAddCreator()

◆ sonarCreate()

◆ sonarGetChoices()

◆ sonarGetTypes()

◆ uninit()